An automatic climbing device with self-adaptive chimney taper

Abstract

The present invention relates to the technical field of chimney demolition, and discloses an automatic climbing device with self-adaptive chimney taper, comprising a shell, two symmetrically arranged shells, a shell punching mechanism and a lifting mechanism arranged inside the shell, the lifting mechanism being connected to the shell punching mechanism, a plurality of arm clamping mechanisms being installed on the opposite sides of the two shells, the arm clamping mechanism comprising two vertically parallel longitudinal bars, the two longitudinal bars being connected by a longitudinal pushing mechanism, the two ends of the two corresponding arm clamping mechanisms in the height direction being connected with a shell clamping mechanism, the shell clamping mechanism comprising two cross bars, the arm punching mechanism being connected between the two cross bars, and a transverse pushing mechanism being connected between the cross bars and the corresponding longitudinal bars. The present invention can realize automatic climbing of chimneys, deliver the chimney demolition device to the desired position and fix it, thereby completing the automatic demolition work, and in addition, through the angle adjustment mechanism, the automatic climbing device can be made suitable for chimneys of different tapers.

Description

Technical Field

[0001] The invention relates to the technical field of chimney demolition, and in particular to an automatic climbing device with self-adaptive chimney taper. Background Art

[0002] In the prior art, three methods are usually used for the demolition of old chimneys: directional blasting, manual demolition, and mechanical demolition. The blasting demolition method saves time and effort and has a fast demolition speed. However, when the chimney is located in a special area, such as a dangerous area with flammable and explosive materials nearby or a residential area, the blasting demolition method cannot be used, so this demolition method has high limitations. The manual demolition method is that workers carry demolition tools into the chimney in a high-altitude suspension mode to carry out demolition. This method is highly flexible and less restricted by the location of the chimney, but the manual demolition cycle is long, the cost is high, the efficiency is low, and the working environment of the workers is relatively poor, and personal safety is insufficient. The mechanical demolition method has a fast demolition speed and is more economical and safe, but most of the existing mechanical chimney demolition equipment needs to be assisted by a crane to hang the demolition equipment for demolition, and it is impossible to achieve fully automated chimney demolition. The overall device is bulky and has poor flexibility, and there are certain requirements for the chimney demolition site to adapt to the normal operation of the crane.

[0003] With the development of automation and intelligent technology, the demand for chimney demolition has also shown a trend of automation and intelligence. The realization of fully automated chimney demolition can greatly improve demolition efficiency, reduce labor costs, improve demolition speed, quality and applicability, and reduce risks. However, the premise of fully automated chimney demolition is to have an automatic chimney climbing and fixing device, and then install demolition equipment and control equipment on this device to complete the chimney demolition. Therefore, an automatic climbing device with adaptive chimney taper was developed. Summary of the invention

[0004] In view of this, the object of the present invention is to provide an automatic climbing device with self-adaptive chimney taper, so as to realize automatic climbing of the chimney, send the chimney demolition device to the required position and fix it, thereby completing the automatic demolition work.

[0005] In order to achieve the above-mentioned invention object, the technical solution adopted is as follows:

[0006] A chimney taper adaptive automatic climbing device comprises a shell, wherein two shells are symmetrically arranged, and openings are arranged on opposite sides of the two shells, and a plurality of shell punching mechanisms and lifting mechanisms are arranged in the shell, and the lifting mechanism is connected to the shell punching mechanism and drives the shell punching mechanism to move up and down in the vertical direction, and a plurality of arm clamping mechanisms are installed on the opposite sides of the two shells, and the arm clamping mechanism comprises two longitudinal rods arranged parallel to each other, and the two longitudinal rods are connected by a longitudinal pushing mechanism, and the shell clamping mechanism is connected between the two ends of the two corresponding arm clamping mechanisms in the height direction, and the shell clamping mechanism comprises two cross rods arranged in a straight line, and the arm punching mechanism is connected between the two cross rods, and a transverse pushing mechanism is connected between the cross rod and the longitudinal rods at the corresponding positions.

[0007] As a further improvement of the present invention, the lifting mechanism includes a lifting electric push rod fixed in the shell and a light rod for guiding the up and down movement of the shell punching mechanism, and a plurality of the light rods are provided along the height direction of the shell.

[0008] As a further improvement of the present invention, the shell punching mechanism and the arm punching mechanism both include a punching unit, the punching unit includes a first protective shell, a drill shell is slidably arranged in the first protective shell, a drill bit is arranged in the drill shell, and bonding plates are respectively arranged on both sides of one end of the first protective shell close to the drill bit. The arrangement of the bonding plates facilitates the bonding with the chimney arm and increases the contact area. One end of the drill bit passes through the drill shell and is connected to the punching motor, and the drill bit is connected to the drill shell through a rolling bearing. The punching motor is fixed in the drill shell, and a drill feed drive device is installed on the first protective shell, and the drill feed drive device is connected to the drill shell and drives the drill shell to drive the drill bit to move along the length direction of the drill bit.

[0009] As a further improvement of the present invention, the shell punching mechanism also includes connecting plates symmetrically arranged on both sides of the first protective shell, and the connecting plates are provided with circular holes for the light rod to pass through and threaded holes that cooperate with the lifting electric push rod threads.

[0010] As a further improvement of the present invention, the drill feed drive device includes a feed motor, a reducer and an electric lead screw. The feed motor is fixed in a first protective housing, one end of the reducer is connected to the feed motor, and the other end is connected to the electric lead screw. The electric lead screw is fixed in the first protective housing and is arranged in a direction parallel to the length of the drill bit. A lead screw slider is threadedly connected to the electric lead screw, and the bottom of the drill housing is fixed on the lead screw slider.

[0011] As a further improvement of the present invention, the lateral pushing mechanism includes a first mounting plate, a lateral electric push rod is fixed to one end of the first mounting plate away from the end of the cross bar, and the end of the cross bar passes through the first mounting plate and is fixedly connected to the end of the lateral electric push rod.

[0012] As a further improvement of the present invention, the arm clamping mechanism is connected to the shell clamping mechanism through an angle adjustment mechanism, and the angle adjustment mechanism includes a second protective shell, and a bogie and a connecting shaft fixed on both sides of the width direction of the first mounting plate, the bogie is rotatably connected to one end of the clamping arm, and the other end of the clamping arm is fixedly connected to the second protective shell, the second protective shell is sleeved on the longitudinal rod, and the inner side of the second protective shell is connected to the male flange through a threaded connection, the male flange is threadedly connected to the female flange, a limit shell is installed between the male flange and the female flange by screws, and one end of the limit shell is clamped between the second protective shell and the transverse push rod, and the axial movement of the male flange and the female flange is limited by the limit shell, one end of the connecting shaft passes through the male flange and the female flange and is installed on the bearing seat, the bearing seat is fixed on the inner wall of the cross bar, and the movement of the limit shell along the longitudinal rod direction is limited by the installation of the clamping arm. The installation of the clamping arm can also balance the forces at both ends of the first mounting plate.

[0013] As a further improvement of the present invention, the longitudinal pushing mechanism includes a second mounting plate fixed on the shell, the two longitudinal rods are installed in the second mounting plate, a longitudinal electric push rod is fixed on the second mounting plate, and the end of the longitudinal electric push rod is fixedly connected to the end of the longitudinal rod at an adjacent position.

[0014] As a further improvement of the present invention, a quick-card mechanism is installed on the arm punching mechanism, and the quick-card mechanism includes a third protective shell fixedly connected to the first protective shell, a rack, a quick-card motor and a gear meshing with the rack are installed on the top of the third protective shell, and the gear is connected to the output end of the quick-card motor, a tightening spring is fixed in the third protective shell, and the bottom of the tightening spring is connected to the plug shaft, and the bottom of the third protective shell is provided with a through hole for the pin to pass through, an electromagnet is provided on the inner top of the third protective shell, and the electromagnet is connected to a locking block through a self-locking spring, and the locking block is slidably arranged along the inner top of the third protective shell, and the locking block is meshed with the rack. When the electromagnet is not energized, the locking block meshes with the rack under the elastic force of the self-locking spring to prevent the rack from moving up and down, and when the electromagnet is energized, the locking block moves to the side close to the electromagnet, releasing the meshing action on the rack, and the rack resumes movement.

[0015] As a further improvement of the present invention, it also includes a sensor mechanism, which includes a force sensor, an acceleration sensor, a distance sensor, a position sensor and an angle sensor respectively connected to the controller, and the controller is electrically connected to the shell punching mechanism, the lifting mechanism, the arm punching mechanism, the longitudinal pushing mechanism, the lateral pushing mechanism and the angle adjustment mechanism respectively. The longitudinal pushing mechanism and the lateral pushing mechanism are both equipped with a force sensor and a position sensor, the arm punching mechanism is equipped with an acceleration sensor, and the angle adjustment mechanism is equipped with an angle sensor. The force sensor is used to detect the lateral electric push rod against the cross bar, and The thrust of the longitudinal electric push rod and the longitudinal rod, when the rectangular frame composed of the horizontal rod and the longitudinal rod completes the contact with the chimney wall, the horizontal electric push rod and the longitudinal electric push rod continue to push, thereby giving a certain pre-tightening force between the chimney wall and the device, making its fixation more stable; the distance sensor is used to detect the position of the hole, thereby realizing the reuse of the same hole; the position sensor is used to detect the extension length of the horizontal electric push rod and the longitudinal electric push rod, so as to determine the position of the mechanism; the angle sensor is used to detect the inclination degree of the shell and is used to adjust the overall position posture of the mechanism; the acceleration sensor is used to detect abnormal acceleration of the device to avoid accidental falling of the device.

[0016] The beneficial effects of the present invention are:

[0017] 1. The chimney taper adaptive automatic climbing device proposed in the present invention can realize the fully automatic chimney climbing function. Compared with the current market methods of using a crane to send the demolition device to the top of the chimney for demolition or using pre-buried tracks to demolish the chimney, it is more intelligent and convenient, and the fully automatic working mode is more in line with the current development trend of science and technology.

[0018] 2. The present invention utilizes the method of drilling holes in the chimney to achieve fixed support for the entire device, and utilizes the combined action of the arm clamping mechanism and the shell clamping mechanism to clamp the device to the chimney. The two cooperate to achieve clamping and fixing of the device, and there is no need to install additional fixing brackets on the chimney wall. Compared with other binding and clamping structures, the fixation is more stable and has a higher load-bearing capacity.

[0019] 3. The automatic climbing device of the present invention with a square frame structure is easier to control than the traditional annular clamping mechanism. Since the rated thrust of the electric push rod is greater than the rated tension, the reverse push type electric push rod installation method is used to make the electric push rod clamp when it is pushed out. The automatic climbing device has a certain obstacle crossing function and can adapt to various wall structures when climbing.

[0020] 4. The present invention uses an angle adjustment mechanism at the connection between the horizontal rod and the vertical rod, so that the automatic climbing device can be suitable for chimneys with different tapers.

[0021] 5. The control system of the chimney taper adaptive automatic climbing device proposed in the present invention has a posture control function, which can adjust the posture of the device in real time through feedback regulation, so that the lifting and clamping functions of the device are more stable.

[0022] 6. The present invention can detect the position of the hole on the chimney wall, and can realize the function of reusing the same hole during the lifting process, thereby reducing the wear of the drill bit. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 Schematic diagram of the working process of the present invention, wherein a is a schematic diagram of the climbing preparation, b is a schematic diagram of the shell and the arm reaching the position, and c is a schematic diagram of the completion of the climbing of the device and the resetting of the lifting mechanism;

[0025] Figure 2 It is a climbing flow chart of the device of the present invention, wherein a is a flow chart when the device is climbing; b is a flow chart when the device is descending;

[0026] Figure 3 To invent the axonometric diagram of the overall mechanism;

[0027] Figure 4 This is the main view of the overall structure of the invention;

[0028] Figure 5 It is a schematic diagram of the lifting mechanism of the invention;

[0029] Figure 6 The present invention is a schematic diagram of the structure of the arm punching mechanism;

[0030] Figure 7 A schematic diagram of the invented punching unit;

[0031] Figure 8 It is a structural schematic diagram of the shell punching mechanism;

[0032] Fig. 9 It is an enlarged schematic diagram of the lateral pushing mechanism of the invention;

[0033] Fig.10 It is an enlarged schematic diagram of the longitudinal propulsion mechanism of the invention;

[0034] Fig.11 It is a schematic diagram of the angle adjustment mechanism of the invention;

[0035] Fig.12 This is a structural diagram of the invented quick card mechanism;

[0036] Fig.13A schematic diagram of the structure from a second perspective of the invented quick-clip mechanism;

[0037] Fig.14 This is a schematic diagram of the installation location of each sensor;

[0038] Fig.15 This is a control principle diagram of the sensor mechanism of the present invention.

[0039] In the figure: 1. Shell; 2. Shell punching mechanism; 21. Punching unit; 211. First protective shell; 212. Drill shell; 213. Drill; 214. Laminating plate; 215. Punching motor; 216. Rolling bearing; 217. Drill feed drive device; 2171. Feed motor; 2172. Speed ​​reducer; 2173. Electric lead screw; 22. Connecting plate; 3. Lifting mechanism; 31. Lifting electric push rod; 32. Bare rod; 4. Arm clamping mechanism; 41. Longitudinal rod; 42. Longitudinal push mechanism; 421. Second mounting plate; 422. Longitudinal electric push rod; 5. Shell clamping mechanism; 51. Cross bar; 52. Cross push mechanism; 521. First mounting plate Plate; 522, transverse electric push rod; 6, arm punching mechanism; 7, angle adjustment mechanism; 71, second protective shell; 72, bogie; 73, connecting shaft; 74, clamping arm; 75, male flange; 76, female flange; 77, screw; 78, limit shell; 79, bearing seat; 8, quick-clamp mechanism; 81, third protective shell; 82, rack; 83, quick-clamp motor; 84, gear; 85, tightening spring; 86, plug-in shaft; 87, electromagnet; 88, self-locking spring; 89, locking block; 9, sensor mechanism; 91, controller; 92, force sensor; 93, acceleration sensor; 94, distance sensor; 95, position sensor; 96, angle sensor. DETAILED DESCRIPTION

[0040] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0041] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0042] like Figure 3-14As shown, an automatic climbing device with adaptive chimney taper comprises a shell 1, wherein two shells 1 are symmetrically arranged, and openings are arranged on opposite sides of the two shells 1, and a plurality of shell punching mechanisms 2 and a lifting mechanism 3 are arranged in the shell 1, and the lifting mechanism 3 is connected to the shell punching mechanism 2 and drives the shell punching mechanism 2 to move up and down in the vertical direction, and a plurality of arm clamping mechanisms 4 are installed on the opposite sides of the two shells 1, and the arm clamping mechanism 4 comprises two vertically parallel longitudinal rods 41, and the two longitudinal rods 41 are connected by a longitudinal pushing mechanism 42, and a shell clamping mechanism 5 is connected between the two ends of the two corresponding arm clamping mechanisms 4 in the height direction, and the shell clamping mechanism 5 comprises two horizontal rods 51 arranged in a straight line, and an arm punching mechanism 6 is connected between the two horizontal rods 51, and a horizontal pushing mechanism 52 is connected between the horizontal rod 51 and the vertical rod 41 at the corresponding position.

[0043] The lifting mechanism 3 includes a lifting electric push rod 31 fixed in the shell 1 and a light rod 32 for guiding the up and down movement of the shell punching mechanism 2. A plurality of the light rods 32 are provided along the height direction of the shell 1.

[0044] The shell punching mechanism 2 and the arm punching mechanism 6 both include a punching unit 21, and the punching unit 21 includes a first protective shell 211, in which a drill shell 212 is slidably arranged, and a drill bit 213 is arranged in the drill shell 212, and the first protective shell 211 is provided with bonding plates 214 on both sides of one end close to the drill bit 213, and one end of the drill bit 213 passes through the drill shell 212 and is connected to a punching motor 215, and the drill bit 213 is connected to the drill shell 212 through a rolling bearing 216, and the punching motor 215 is fixed in the drill shell 212, and a drill feed drive device 217 is installed on the first protective shell 211, and the drill feed drive device 217 is connected to the drill shell 212 and drives the drill shell 212 to drive the drill bit 213 to move along the length direction of the drill bit 213.

[0045] The shell punching mechanism 2 also includes connecting plates 22 symmetrically arranged on both sides of the first protective shell 211 , and the connecting plates 22 are provided with a circular hole for the light rod 32 to pass through and a threaded hole that is threadedly matched with the lifting electric push rod 31 .

[0046] The drill feed drive device 217 includes a feed motor 2171, a reducer 2172 and an electric lead screw 2173. The feed motor 2171 is fixed to the first protective housing 211. One end of the reducer 2172 is connected to the feed motor 2171, and the other end is connected to the electric lead screw 2173. The electric lead screw 2173 is fixed in the first protective housing 211 and is arranged in a direction parallel to the length of the drill bit 213. A lead screw slider is threadedly connected to the electric lead screw 2173, and the bottom of the drilling rig housing 212 is fixed on the lead screw slider.

[0047] The lateral pushing mechanism 52 includes a first mounting plate 521 , and a lateral electric push rod 522 is fixed to one end of the first mounting plate 521 away from the end of the cross bar 51 . The end of the cross bar 51 passes through the first mounting plate 521 and is fixedly connected to the end of the lateral electric push rod 522 .

[0048] The arm clamping mechanism 4 is connected to the shell clamping mechanism 5 through the angle adjustment mechanism 7. Fig.10 As shown, the angle adjustment mechanism is the connection part between the longitudinal rod 41 and the cross rod 51, and its function is to adapt to the taper of the chimney and realize the fit between the mechanism and the chimney wall. The angle adjustment mechanism 7 includes a second protective shell 71, and a bogie 72 and a connecting shaft 73 fixed on both sides of the width direction of the first mounting plate 521. The bogie 72 is rotatably connected to one end of the clamping arm 74, and the other end of the clamping arm 74 is fixedly connected to the second protective shell 71. The second protective shell 71 is sleeved on the longitudinal rod 41, and the inner side of the second protective shell 71 is connected to the male flange 75 through a threaded connector, and the male flange 75 is connected to the female flange 76. Threaded connection, a limiting shell 78 is installed between the male flange 75 and the female flange 76 by means of screws 77, and one end of the limiting shell 78 is clamped between the second protective shell 71 and the transverse push rod, and the axial movement of the male flange 75 and the female flange 76 is limited by the limiting shell 78, one end of the connecting shaft 73 passes through the male flange 75 and the female flange 76 and is installed on the bearing seat 79, and the bearing seat 79 is fixed on the inner wall of the cross bar 51, and the movement of the limiting shell 78 along the direction of the longitudinal bar 41 is limited by the installation of the clamping arm 74, and the installation of the clamping arm 74 can also balance the force at both ends of the first mounting plate 521.

[0049] The longitudinal pushing mechanism 42 includes a second mounting plate 421 fixed on the shell 1, and the two longitudinal rods 41 are both installed in the second mounting plate 421. A longitudinal electric push rod 422 is fixed on the second mounting plate 421, and the end of the longitudinal electric push rod 422 is fixedly connected to the end of the longitudinal rod 41 at an adjacent position.

[0050] like Figure 12-13As shown, a quick-card mechanism 8 is installed on the arm punching mechanism 6, and the quick-card mechanism 8 includes a third protective shell 81 fixedly connected to the first protective shell 211, and a rack 82, a quick-card motor 83 and a gear 84 meshing with the rack 82 are installed on the top of the third protective shell 81, and the gear 84 is connected to the output end of the quick-card motor 83. A tightening spring 85 is fixed in the third protective shell 81, and the bottom of the tightening spring 85 is connected to the insertion shaft 86. The bottom of the third protective shell 81 is provided with a through hole for the pin to pass through. An electromagnet 87 is provided at the inner top of the third protective shell 81, and the electromagnet 87 is connected to a locking block 89 through a self-locking spring 88. The locking block 89 is slidably arranged along the inner top of the third protective shell 81, and the locking block 89 is engaged with the rack 82. When the electromagnet 87 is not energized, the locking block 89 is engaged with the rack 82 under the elastic force of the self-locking spring 88, preventing the rack 82 from moving up and down. When the electromagnet 87 is energized, the locking block 89 moves to the side close to the electromagnet 87, releasing the meshing action on the rack 82, and the rack 82 resumes moving.

[0051] It also includes a sensor mechanism 9, which includes a force sensor 92, an acceleration sensor 93, a distance sensor 94, a position sensor 95 and an angle sensor 96 respectively connected to a controller 91. The controller 91 is electrically connected to the shell punching mechanism 2, the lifting mechanism 3, the arm punching mechanism 6, the longitudinal pushing mechanism 42, the transverse pushing mechanism 52 and the angle adjustment mechanism 7 respectively. The longitudinal pushing mechanism 42 and the transverse pushing mechanism 52 are both installed with a force sensor 92 and a position sensor 95, the arm punching mechanism 6 is installed with an acceleration sensor 93, and the angle adjustment mechanism 7 is installed with an angle sensor 96.

[0052] Sensor layout diagram Fig.14 As shown, the force sensor 92 is used to detect the thrust of the transverse electric push rod 522 on the transverse bar 51, and the longitudinal electric push rod 422 and the longitudinal bar 41. When the rectangular frame composed of the transverse bar 51 and the longitudinal bar 41 completes the contact with the chimney wall, the transverse electric push rod 522 and the longitudinal electric push rod 422 continue to push, thereby giving a certain pre-tightening force between the chimney wall and the device, making its fixation more stable; the distance sensor 94 is used to detect the position of the hole, thereby realizing the reuse of the same hole; the position sensor 95 is used to detect the extension length of the transverse electric push rod 522 and the longitudinal electric push rod 422, thereby judging the position of the mechanism; the angle sensor 96 is used to detect the inclination degree of the shell 1 and to adjust the overall position posture of the mechanism; the acceleration sensor 93 is used to detect abnormal acceleration of the device to avoid accidental falling off of the device.

[0053] The work of the device is mainly divided into climbing process and descending process. The schematic diagram of its work flow is as follows: Figure 1As shown: a. Climbing preparation: The device is fixed on the chimney wall by the punching device of the shell 1, and then pushed by the lifting electric push rod 31, so that the shell 1 and the arm clamping mechanism 4 are moved as a whole to Figure 1 b. The housing 1 and the arm clamping mechanism 4 reach position 2: At this time, the device is fixed on the chimney wall by the arm punching device, and then the housing 1 punching device is pushed by the lifting electric push rod 31 to reset to Figure 1 c. Complete the device climbing and reset the lifting mechanism 3, waiting for the next climbing work. Figure 2 As shown:

[0054] Device climbing: Before the device climbing begins, the device needs to be installed. After the installation is completed, it is punched and fixed to complete the initial posture adjustment of the equipment. ① Climbing preparation: First, the shell punching mechanism 2 is withdrawn from the chimney wall. After the withdrawal, the arm clamping device loosens the chimney wall and maintains a certain distance from the chimney wall. The shell clamping mechanism 5 loosens the chimney wall, but maintains a certain fit. ② Device climbing: The completion of this action requires the joint work of the lifting electric push rod 31 of the lifting mechanism 3 and the shell clamping mechanism 5. When the climbing preparation work is completed, the device is supported on the chimney wall by the shell punching mechanism 2. Under the push of the lifting electric push rod 31, the shell 1 and the arm clamping mechanism 4 will move upward synchronously. During the movement, due to the cone-shaped distribution of the chimney, the diameter of the plane that fits the device becomes smaller when moving upward, so it is necessary to control the shell clamping mechanism 5 to continuously adjust the distance between it and the chimney wall, so that the shell 1 and the chimney wall always maintain a certain distance. When the mechanism reaches the specified position, the lifting mechanism 3 stops working, the shell clamping mechanism 5 clamps, and the arm clamping mechanism 4 clamps. ③ Device clamping: After the arm clamping mechanism 4 clamps, the arm punching mechanism 6 performs punching to complete the fixation work. After reaching this state, the lifting mechanism 3 is reset. ④ Reset the lifting mechanism 3: After the device is climbed and fixed, the lifting mechanism 3 is reset to facilitate the next climbing work. When the lifting mechanism 3 of the device is reset, the drill bit 213 of the shell punching mechanism 2 is first recovered to separate the drill bit 213 from the chimney wall. The lifting mechanism 3 works to reset the shell punching mechanism 2 to the initial state, and then the drill bit feed drive device 217 pushes the drill bit 213 to feed, completing the fixing of the shell 1. By repeating ① to ④ in this way, the device can complete the climbing work layer by layer. The detailed workflow is shown in Figure 2 a and Figure 2 b.

[0055] The process of descending the device is similar to the process of ascending the device, the only difference is that the operation of the lifting mechanism 3 is changed from ascending the housing 1 to descending the housing 1. Figure 1 b.

[0056] During the climbing and descending process of the device, the force sensor 92, position sensor 95, distance sensor 94, and angle sensor 96 are used to adjust the posture of the device in real time. Among them, the force sensor 92 is used to detect the magnitude of the force applied by the horizontal / longitudinal electric push rod 422 to the horizontal bar 51 and the vertical bar 41. It has two functions: first, it is used to control the magnitude of the clamping force on the chimney wall when the arm clamping mechanism 4 is clamped; second, it is used to detect whether the horizontal / longitudinal electric push rod 422 that controls the same rod is synchronized. The position sensor 95 is used to detect the real-time position of the lifting / transverse / longitudinal electric push rod 422, mainly used to ensure the accuracy of the feed amount of the lifting / transverse / longitudinal electric push rod 422. The distance sensor 94 is installed in the punching mechanism to detect the position of the hole, so as to realize the same hole reuse function and reduce the loss of the drill bit 213. The angle sensor 96 is used to detect the angle of the angle adjustment mechanism, which is mainly used for the situation that the two shells 1 of the device are not located in the same plane due to the asynchronous rising speed of the two shells 1 when the device climbs or descends. In addition, an acceleration sensor 93 is provided on the housing of the mechanism to detect an abnormal state of the mechanism slipping, so as to perform emergency braking and other operations to avoid accidental damage to the mechanism.

[0057] The control principle diagram of the sensor mechanism is as follows: Fig.15 As shown, the device mainly completes the lifting and clamping work of the device. Before the device works, the height of the chimney and the taper of the chimney should be input first. According to the chimney height input, the controller 91 will complete the allocation of the climbing height and number of floors of each chimney, and calculate the appropriate pre-tightening force when the device is clamped according to the weight of the device and the taper of the chimney.

[0058] The device arm clamping and tensioning function is realized:

[0059] The arm opening function is realized as follows: first, the controller 91 gives the length parameter of the arm clamping device, and the position sensor 95 on the shell clamping mechanism 5 feeds back the position of the arm clamping mechanism 4 in real time. When the position of the arm clamping mechanism 4 reaches the specified extension length, the movement stops, and the arm opening action is completed.

[0060] The arm clamping function is realized as follows: first, the controller 91 gives the length parameter of the arm clamping device, and the position sensor 95 of the shell clamping mechanism 5 feeds back the position of the arm clamping mechanism 4 in real time. When the arm clamping device reaches the specified length, it stops moving. In addition, the force sensor 92 located on the arm clamping mechanism 4 feeds back the force change on the arm clamping mechanism 4 in real time. When the value detected by the force sensor 92 reaches the specified value, the mechanism will stop operating regardless of whether it reaches the specified position.

[0061] In addition, during the clamping and opening process of the mechanism, if the force sensor 92 monitors the force changes on the transverse electric push rod 522 in real time, when different forces appear on the same cross bar 51, the speed of the corresponding transverse electric push rod 522 is adjusted.

[0062] The device's self-climbing function is realized:

[0063] The realization of the self-climbing function of the device needs to rely on the shell clamping mechanism 5 and the lifting mechanism 3. During the chimney climbing process, the diameter of the chimney and the device in contact will gradually decrease, so the shell clamping mechanism 5 is required to continuously adjust the length of the horizontal electric push rod 522 to ensure that the shell 1 always maintains a certain contact with the chimney wall.

[0064] Main actions: First, before climbing, the arm clamping device must be in a loose state. The controller 91 gives the lifting and lowering electric push rod 31 of the lifting mechanism 3 a lifting and lowering command according to the climbing height of each floor. At the same time, the horizontal electric push rod 522 of the shell 1 clamping device continuously adjusts its extension length to ensure that the shell 1 always maintains a certain contact with the chimney wall.

[0065] Feedback Regulation:

[0066] Stop condition: The holes on the chimney wall are mainly identified by the distance measuring sensor and the position of the holes is calculated. When the punching mechanism reaches the specified position, it stops moving.

[0067] Posture balance adjustment: The pushing speed of each lateral / longitudinal electric push rod 422 is adjusted in real time through the feedback of the force sensor 92 on the lateral / longitudinal electric push rod 422. The pushing speed of the lifting electric push rod 31 in the lifting mechanism 3 is adjusted in real time through the feedback of the angle sensor 96 on the angle adjustment mechanism 7 to ensure that the two housings 1 are located on the same horizontal plane.

[0068] Device fall protection:

[0069] When the acceleration sensor 93 located on the device shell 1 detects abnormal acceleration, the controller 91 will determine whether the device has loosened and fallen. At this time, the transverse electric push rod 522 of the shell clamping mechanism 5 and the transverse electric push rod 522 of the arm clamping mechanism 4 will be controlled to move, and braking will be performed through the friction between the shell clamping mechanism 5 and the arm clamping mechanism 4 and the chimney wall to ensure the safety of the device.

[0070] The technical solution of the present invention relates to a working method of the above-mentioned chimney taper adaptive automatic climbing device, comprising the following steps:

[0071] Step 1: Installation: First, the separated mechanism is quickly installed and encircled to the bottom of the chimney wall through the quick-clamp mechanism 8.

[0072] Step 2: Initial posture adjustment: Start the equipment, and under the action of the arm clamping mechanism 4 and the shell clamping mechanism 5, the crossbar 51 and the shell 1 are attached to the chimney wall. Then the arm punching mechanism 6 and the shell punching mechanism 2 are used to perform punching work, completing the initial state adjustment of the mechanism.

[0073] Step 3: Climbing preparation: The arm punching mechanism 6 drives the drill bit 213 to withdraw from the chimney wall, and the arm clamping mechanism 4 drives the crossbar 51 to leave the chimney wall. The shell punching mechanism 2 does not move, and the shell 1 clamping device drives the shell 1 slightly away from the chimney wall, but still maintains a certain fit.

[0074] Step 4: lifting; the four lifting electric push rods 31 on the lifting mechanism 3 start to work, lifting the device as a whole upward, and stop lifting after the specified height is reached;

[0075] Step 5: Fix the arm; the longitudinal electric push rod 422 is pushed outward to clamp the cross bar 51 to the chimney wall, and the rear arm punching mechanism 6 starts to work to fix the cross bar 51 to the chimney wall.

[0076] Step 6: The shell 1 is punched and reset; the drill bit 213 of the shell punching mechanism 2 is recovered. After the recovery is completed, the shell punching mechanism 2 is reset under the action of the lifting electric push rod 31. After the reset work is completed, the shell punching mechanism 2 starts to work and feeds the drill bit 213 into the chimney wall to complete the fixing work of the entire device.

[0077] In the subsequent work, repeat steps 3 to 6 to gradually complete the self-climbing and fixing work of the chimney.

[0078] The lifting / lateral / vertical electric push rods in the present invention are all conventional technical means for those skilled in the art.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, component splitting or combination, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic climbing device with self-adaptive chimney taper, characterized in that: It comprises a shell, wherein two shells are symmetrically arranged, and openings are arranged on opposite sides of the two shells, and a plurality of shell punching mechanisms and lifting mechanisms are arranged in the shell, and the lifting mechanism is connected to the shell punching mechanism and drives the shell punching mechanism to move up and down in the vertical direction, and a plurality of arm clamping mechanisms are installed on opposite sides of the two shells, and the arm clamping mechanism comprises two longitudinal bars arranged in parallel up and down, and the two longitudinal bars are connected by a longitudinal pushing mechanism, and the two ends of the two corresponding arm clamping mechanisms in the height direction are connected with the shell clamping mechanism, and the shell clamping mechanism comprises two cross bars arranged in a straight line, and the arm punching mechanism is connected between the two cross bars, and the cross bar and the longitudinal bars at the corresponding positions are connected with a transverse pushing mechanism; The lateral pushing mechanism comprises a first mounting plate, a lateral electric push rod is fixed to one end of the first mounting plate away from the end of the cross bar, and the end of the cross bar passes through the first mounting plate and is fixedly connected to the end of the lateral electric push rod; The longitudinal pushing mechanism includes a second mounting plate fixed on the shell, the two longitudinal rods are both mounted in the second mounting plate, a longitudinal electric push rod is fixed on the second mounting plate, and the end of the longitudinal electric push rod is fixedly connected to the end of the longitudinal rod at an adjacent position.

2. The chimney taper adaptive automatic climbing device according to claim 1, characterized in that: The lifting mechanism comprises a lifting electric push rod fixed in the shell and a light rod used for guiding the up and down movement of the shell punching mechanism, and a plurality of the light rods are arranged along the height direction of the shell.

3. The chimney taper adaptive automatic climbing device according to claim 2, characterized in that: The shell punching mechanism and the arm punching mechanism both include a punching unit, and the punching unit includes a first protective shell, a drill shell is slidably arranged in the first protective shell, a drill bit is arranged in the drill shell, and fitting plates are respectively arranged on both sides of one end of the first protective shell close to the drill bit, one end of the drill bit passes through the drill shell and is connected to the punching motor, and the drill bit is connected to the drill shell through a rolling bearing, and the punching motor is fixed in the drill shell, and a drill feed drive device is installed on the first protective shell, and the drill feed drive device is connected to the drill shell and drives the drill shell to drive the drill bit to move along the length direction of the drill bit.

4. The chimney taper adaptive automatic climbing device according to claim 3, characterized in that: The shell punching mechanism also includes connecting plates symmetrically arranged on both sides of the first protective shell, and the connecting plates are provided with circular holes for the light rod to pass through and threaded holes that cooperate with the lifting electric push rod threads.

5. The chimney taper adaptive automatic climbing device according to claim 3, characterized in that: The drill feed drive device includes a feed motor, a reducer and an electric lead screw. The feed motor is fixed on a first protective housing. One end of the reducer is connected to the feed motor, and the other end is connected to the electric lead screw. The electric lead screw is fixed in the first protective housing and is arranged in a direction parallel to the length of the drill bit. A lead screw slider is threadedly connected to the electric lead screw, and the bottom of the drill housing is fixed on the lead screw slider.

6. The chimney taper adaptive automatic climbing device according to claim 1, characterized in that: The arm clamping mechanism is connected to the shell clamping mechanism through an angle adjustment mechanism, and the angle adjustment mechanism includes a second protective shell, and a bogie and a connecting shaft fixed on both sides of the width direction of the first mounting plate, the bogie is rotatably connected to one end of the clamping arm, and the other end of the clamping arm is fixedly connected to the second protective shell, the second protective shell is sleeved on the longitudinal rod, and the inner side of the second protective shell is connected to the male flange through a threaded connection, the male flange is threadedly connected to the female flange, a limiting shell is installed between the male flange and the female flange by screws, and one end of the limiting shell is clamped between the second protective shell and the transverse push rod, and the axial movement of the male flange and the female flange is limited by the limiting shell, and one end of the connecting shaft is installed on the bearing seat after passing through the male flange and the female flange, and the bearing seat is fixed on the inner wall of the cross bar.

7. The chimney taper adaptive automatic climbing device according to claim 1, characterized in that: A quick-card mechanism is installed on the arm punching mechanism, and the quick-card mechanism includes a third protective shell fixedly connected to the first protective shell, a rack, a quick-card motor and a gear meshing with the rack are installed on the top of the third protective shell, and the gear is connected to the output end of the quick-card motor, a tightening spring is fixed in the third protective shell, and the bottom of the tightening spring is connected to the insertion shaft, and a through hole for the pin to pass through is opened at the bottom of the third protective shell, an electromagnet is arranged on the inner top of the third protective shell, and the electromagnet is connected to a locking block through a self-locking spring, and the locking block is slidably arranged along the inner top of the third protective shell, and the locking block is meshed with the rack.

8. The chimney taper adaptive automatic climbing device according to claim 6, characterized in that: It also includes a sensor mechanism, which includes a force sensor, an acceleration sensor, a distance sensor, a position sensor and an angle sensor respectively connected to the controller. The controller is electrically connected to the shell punching mechanism, the lifting mechanism, the arm punching mechanism, the longitudinal pushing mechanism, the transverse pushing mechanism and the angle adjustment mechanism respectively. The longitudinal pushing mechanism and the transverse pushing mechanism are both equipped with a force sensor and a position sensor, the arm punching mechanism is equipped with an acceleration sensor, and the angle adjustment mechanism is equipped with an angle sensor.

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